728 lines
23 KiB
C
Executable File
728 lines
23 KiB
C
Executable File
/*
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ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file chschd.h
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* @brief Scheduler macros and structures.
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*
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* @addtogroup scheduler
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* @{
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*/
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#ifndef CHSCHD_H
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#define CHSCHD_H
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Wakeup status codes
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* @{
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*/
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#define MSG_OK (msg_t)0 /**< @brief Normal wakeup message. */
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#define MSG_TIMEOUT (msg_t)-1 /**< @brief Wakeup caused by a timeout
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condition. */
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#define MSG_RESET (msg_t)-2 /**< @brief Wakeup caused by a reset
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condition. */
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/** @} */
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/**
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* @name Priority constants
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* @{
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*/
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#define NOPRIO (tprio_t)0 /**< @brief Ready list header
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priority. */
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#define IDLEPRIO (tprio_t)1 /**< @brief Idle priority. */
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#define LOWPRIO (tprio_t)2 /**< @brief Lowest priority. */
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#define NORMALPRIO (tprio_t)128 /**< @brief Normal priority. */
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#define HIGHPRIO (tprio_t)255 /**< @brief Highest priority. */
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/** @} */
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/**
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* @name Thread states
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* @{
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*/
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#define CH_STATE_READY (tstate_t)0 /**< @brief Waiting on the
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ready list. */
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#define CH_STATE_CURRENT (tstate_t)1 /**< @brief Currently running. */
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#define CH_STATE_WTSTART (tstate_t)2 /**< @brief Just created. */
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#define CH_STATE_SUSPENDED (tstate_t)3 /**< @brief Suspended state. */
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#define CH_STATE_QUEUED (tstate_t)4 /**< @brief On an I/O queue. */
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#define CH_STATE_WTSEM (tstate_t)5 /**< @brief On a semaphore. */
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#define CH_STATE_WTMTX (tstate_t)6 /**< @brief On a mutex. */
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#define CH_STATE_WTCOND (tstate_t)7 /**< @brief On a cond.variable.*/
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#define CH_STATE_SLEEPING (tstate_t)8 /**< @brief Sleeping. */
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#define CH_STATE_WTEXIT (tstate_t)9 /**< @brief Waiting a thread. */
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#define CH_STATE_WTOREVT (tstate_t)10 /**< @brief One event. */
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#define CH_STATE_WTANDEVT (tstate_t)11 /**< @brief Several events. */
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#define CH_STATE_SNDMSGQ (tstate_t)12 /**< @brief Sending a message,
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in queue. */
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#define CH_STATE_SNDMSG (tstate_t)13 /**< @brief Sent a message,
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waiting answer. */
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#define CH_STATE_WTMSG (tstate_t)14 /**< @brief Waiting for a
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message. */
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#define CH_STATE_FINAL (tstate_t)15 /**< @brief Thread terminated. */
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/**
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* @brief Thread states as array of strings.
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* @details Each element in an array initialized with this macro can be
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* indexed using the numeric thread state values.
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*/
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#define CH_STATE_NAMES \
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"READY", "CURRENT", "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", \
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"WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", \
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"SNDMSG", "WTMSG", "FINAL"
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/** @} */
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/**
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* @name Thread flags and attributes
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* @{
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*/
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#define CH_FLAG_MODE_MASK (tmode_t)3U /**< @brief Thread memory mode
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mask. */
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#define CH_FLAG_MODE_STATIC (tmode_t)0U /**< @brief Static thread. */
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#define CH_FLAG_MODE_HEAP (tmode_t)1U /**< @brief Thread allocated
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from a Memory Heap. */
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#define CH_FLAG_MODE_MPOOL (tmode_t)2U /**< @brief Thread allocated
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from a Memory Pool. */
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#define CH_FLAG_TERMINATE (tmode_t)4U /**< @brief Termination requested
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flag. */
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/** @} */
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !defined(CH_CFG_IDLE_ENTER_HOOK)
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#error "CH_CFG_IDLE_ENTER_HOOK not defined in chconf.h"
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#endif
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#if !defined(CH_CFG_IDLE_LEAVE_HOOK)
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#error "CH_CFG_IDLE_LEAVE_HOOK not defined in chconf.h"
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#endif
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#if !defined(CH_CFG_IDLE_LOOP_HOOK)
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#error "CH_CFG_IDLE_LOOP_HOOK not defined in chconf.h"
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#endif
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Generic threads single link list, it works like a stack.
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*/
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struct ch_threads_list {
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thread_t *next; /**< @brief Next in the list/queue. */
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};
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/**
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* @brief Generic threads bidirectional linked list header and element.
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*/
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struct ch_threads_queue {
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thread_t *next; /**< @brief Next in the list/queue. */
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thread_t *prev; /**< @brief Previous in the queue. */
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};
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/**
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* @brief Structure representing a thread.
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* @note Not all the listed fields are always needed, by switching off some
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* not needed ChibiOS/RT subsystems it is possible to save RAM space
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* by shrinking this structure.
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*/
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struct ch_thread {
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threads_queue_t queue; /**< @brief Threads queue header. */
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tprio_t prio; /**< @brief Thread priority. */
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struct port_context ctx; /**< @brief Processor context. */
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#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
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thread_t *newer; /**< @brief Newer registry element. */
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thread_t *older; /**< @brief Older registry element. */
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#endif
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/* End of the fields shared with the ReadyList structure. */
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#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Thread name or @p NULL.
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*/
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const char *name;
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#endif
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#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
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defined(__DOXYGEN__)
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/**
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* @brief Working area base address.
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* @note This pointer is used for stack overflow checks and for
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* dynamic threading.
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*/
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stkalign_t *wabase;
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#endif
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/**
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* @brief Current thread state.
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*/
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tstate_t state;
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/**
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* @brief Various thread flags.
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*/
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tmode_t flags;
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#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief References to this thread.
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*/
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trefs_t refs;
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#endif
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/**
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* @brief Number of ticks remaining to this thread.
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*/
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#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
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tslices_t preempt;
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#endif
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#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Thread consumed time in ticks.
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* @note This field can overflow.
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*/
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volatile systime_t time;
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#endif
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/**
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* @brief State-specific fields.
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* @note All the fields declared in this union are only valid in the
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* specified state or condition and are thus volatile.
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*/
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union {
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/**
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* @brief Thread wakeup code.
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* @note This field contains the low level message sent to the thread
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* by the waking thread or interrupt handler. The value is valid
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* after exiting the @p chSchWakeupS() function.
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*/
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msg_t rdymsg;
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/**
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* @brief Thread exit code.
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* @note The thread termination code is stored in this field in order
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* to be retrieved by the thread performing a @p chThdWait() on
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* this thread.
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*/
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msg_t exitcode;
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/**
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* @brief Pointer to a generic "wait" object.
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* @note This field is used to get a generic pointer to a synchronization
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* object and is valid when the thread is in one of the wait
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* states.
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*/
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void *wtobjp;
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/**
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* @brief Pointer to a generic thread reference object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_SUSPENDED
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* state.
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*/
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thread_reference_t *wttrp;
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#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Thread sent message.
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*/
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msg_t sentmsg;
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#endif
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#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Pointer to a generic semaphore object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_WTSEM
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* state.
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*/
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struct ch_semaphore *wtsemp;
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#endif
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#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Pointer to a generic mutex object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_WTMTX
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* state.
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*/
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struct ch_mutex *wtmtxp;
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#endif
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#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Enabled events mask.
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* @note This field is only valid while the thread is in the
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* @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
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*/
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eventmask_t ewmask;
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#endif
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} u;
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#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Termination waiting list.
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*/
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threads_list_t waiting;
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#endif
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#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Messages queue.
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*/
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threads_queue_t msgqueue;
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#endif
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#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Pending events mask.
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*/
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eventmask_t epending;
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#endif
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#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief List of the mutexes owned by this thread.
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* @note The list is terminated by a @p NULL in this field.
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*/
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struct ch_mutex *mtxlist;
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/**
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* @brief Thread's own, non-inherited, priority.
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*/
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tprio_t realprio;
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#endif
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#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \
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defined(__DOXYGEN__)
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/**
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* @brief Memory Pool where the thread workspace is returned.
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*/
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void *mpool;
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#endif
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#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Thread statistics.
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*/
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time_measurement_t stats;
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#endif
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#if defined(CH_CFG_THREAD_EXTRA_FIELDS)
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/* Extra fields defined in chconf.h.*/
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CH_CFG_THREAD_EXTRA_FIELDS
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#endif
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};
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/**
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* @extends virtual_timers_list_t
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*
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* @brief Virtual Timer descriptor structure.
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*/
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struct ch_virtual_timer {
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virtual_timer_t *next; /**< @brief Next timer in the list. */
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virtual_timer_t *prev; /**< @brief Previous timer in the list. */
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systime_t delta; /**< @brief Time delta before timeout. */
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vtfunc_t func; /**< @brief Timer callback function
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pointer. */
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void *par; /**< @brief Timer callback function
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parameter. */
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};
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/**
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* @brief Virtual timers list header.
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* @note The timers list is implemented as a double link bidirectional list
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* in order to make the unlink time constant, the reset of a virtual
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* timer is often used in the code.
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*/
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struct ch_virtual_timers_list {
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virtual_timer_t *next; /**< @brief Next timer in the delta
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list. */
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virtual_timer_t *prev; /**< @brief Last timer in the delta
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list. */
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systime_t delta; /**< @brief Must be initialized to -1. */
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#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
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volatile systime_t systime; /**< @brief System Time counter. */
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#endif
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#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
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/**
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* @brief System time of the last tick event.
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*/
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systime_t lasttime; /**< @brief System time of the last
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tick event. */
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#endif
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};
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/**
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* @extends threads_queue_t
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*/
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struct ch_ready_list {
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threads_queue_t queue; /**< @brief Threads queue. */
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tprio_t prio; /**< @brief This field must be
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initialized to zero. */
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struct port_context ctx; /**< @brief Not used, present because
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offsets. */
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#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
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thread_t *newer; /**< @brief Newer registry element. */
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thread_t *older; /**< @brief Older registry element. */
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#endif
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/* End of the fields shared with the thread_t structure.*/
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thread_t *current; /**< @brief The currently running
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thread. */
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};
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/**
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* @brief System debug data structure.
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*/
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struct ch_system_debug {
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/**
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* @brief Pointer to the panic message.
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* @details This pointer is meant to be accessed through the debugger, it is
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* written once and then the system is halted.
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* @note Accesses to this pointer must never be optimized out so the
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* field itself is declared volatile.
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*/
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const char * volatile panic_msg;
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#if (CH_DBG_SYSTEM_STATE_CHECK == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief ISR nesting level.
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*/
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cnt_t isr_cnt;
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/**
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* @brief Lock nesting level.
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*/
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cnt_t lock_cnt;
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#endif
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#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED) || defined(__DOXYGEN__)
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/**
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* @brief Public trace buffer.
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*/
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ch_trace_buffer_t trace_buffer;
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#endif
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};
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/**
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* @brief System data structure.
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* @note This structure contain all the data areas used by the OS except
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* stacks.
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*/
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struct ch_system {
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/**
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* @brief Ready list header.
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*/
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ready_list_t rlist;
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/**
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* @brief Virtual timers delta list header.
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*/
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virtual_timers_list_t vtlist;
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/**
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* @brief System debug.
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*/
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system_debug_t dbg;
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/**
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* @brief Main thread descriptor.
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*/
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thread_t mainthread;
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#if (CH_CFG_USE_TM == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Time measurement calibration data.
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*/
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tm_calibration_t tm;
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#endif
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#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Global kernel statistics.
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*/
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kernel_stats_t kernel_stats;
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#endif
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};
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @brief Returns the priority of the first thread on the given ready list.
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*
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* @notapi
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*/
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#define firstprio(rlp) ((rlp)->next->prio)
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/**
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* @brief Current thread pointer access macro.
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* @note This macro is not meant to be used in the application code but
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* only from within the kernel, use @p chThdGetSelfX() instead.
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*/
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#define currp ch.rlist.current
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#if !defined(__DOXYGEN__)
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extern ch_system_t ch;
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#endif
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/*
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* Scheduler APIs.
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void _scheduler_init(void);
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thread_t *chSchReadyI(thread_t *tp);
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thread_t *chSchReadyAheadI(thread_t *tp);
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void chSchGoSleepS(tstate_t newstate);
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msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time);
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void chSchWakeupS(thread_t *ntp, msg_t msg);
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void chSchRescheduleS(void);
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bool chSchIsPreemptionRequired(void);
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void chSchDoRescheduleBehind(void);
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void chSchDoRescheduleAhead(void);
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void chSchDoReschedule(void);
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#if CH_CFG_OPTIMIZE_SPEED == FALSE
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void queue_prio_insert(thread_t *tp, threads_queue_t *tqp);
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void queue_insert(thread_t *tp, threads_queue_t *tqp);
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thread_t *queue_fifo_remove(threads_queue_t *tqp);
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thread_t *queue_lifo_remove(threads_queue_t *tqp);
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thread_t *queue_dequeue(thread_t *tp);
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void list_insert(thread_t *tp, threads_list_t *tlp);
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thread_t *list_remove(threads_list_t *tlp);
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#endif /* CH_CFG_OPTIMIZE_SPEED == FALSE */
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief Threads list initialization.
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*
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* @param[in] tlp pointer to the threads list object
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*
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* @notapi
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*/
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static inline void list_init(threads_list_t *tlp) {
|
|
|
|
tlp->next = (thread_t *)tlp;
|
|
}
|
|
|
|
/**
|
|
* @brief Evaluates to @p true if the specified threads list is empty.
|
|
*
|
|
* @param[in] tlp pointer to the threads list object
|
|
* @return The status of the list.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline bool list_isempty(threads_list_t *tlp) {
|
|
|
|
return (bool)(tlp->next == (thread_t *)tlp);
|
|
}
|
|
|
|
/**
|
|
* @brief Evaluates to @p true if the specified threads list is not empty.
|
|
*
|
|
* @param[in] tlp pointer to the threads list object
|
|
* @return The status of the list.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline bool list_notempty(threads_list_t *tlp) {
|
|
|
|
return (bool)(tlp->next != (thread_t *)tlp);
|
|
}
|
|
|
|
/**
|
|
* @brief Threads queue initialization.
|
|
*
|
|
* @param[in] tqp pointer to the threads queue object
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline void queue_init(threads_queue_t *tqp) {
|
|
|
|
tqp->next = (thread_t *)tqp;
|
|
tqp->prev = (thread_t *)tqp;
|
|
}
|
|
|
|
/**
|
|
* @brief Evaluates to @p true if the specified threads queue is empty.
|
|
*
|
|
* @param[in] tqp pointer to the threads queue object
|
|
* @return The status of the queue.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline bool queue_isempty(const threads_queue_t *tqp) {
|
|
|
|
return (bool)(tqp->next == (const thread_t *)tqp);
|
|
}
|
|
|
|
/**
|
|
* @brief Evaluates to @p true if the specified threads queue is not empty.
|
|
*
|
|
* @param[in] tqp pointer to the threads queue object
|
|
* @return The status of the queue.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline bool queue_notempty(const threads_queue_t *tqp) {
|
|
|
|
return (bool)(tqp->next != (const thread_t *)tqp);
|
|
}
|
|
|
|
/* If the performance code path has been chosen then all the following
|
|
functions are inlined into the various kernel modules.*/
|
|
#if CH_CFG_OPTIMIZE_SPEED == TRUE
|
|
static inline void list_insert(thread_t *tp, threads_list_t *tlp) {
|
|
|
|
tp->queue.next = tlp->next;
|
|
tlp->next = tp;
|
|
}
|
|
|
|
static inline thread_t *list_remove(threads_list_t *tlp) {
|
|
|
|
thread_t *tp = tlp->next;
|
|
tlp->next = tp->queue.next;
|
|
|
|
return tp;
|
|
}
|
|
|
|
static inline void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
|
|
|
|
thread_t *cp = (thread_t *)tqp;
|
|
do {
|
|
cp = cp->queue.next;
|
|
} while ((cp != (thread_t *)tqp) && (cp->prio >= tp->prio));
|
|
tp->queue.next = cp;
|
|
tp->queue.prev = cp->queue.prev;
|
|
tp->queue.prev->queue.next = tp;
|
|
cp->queue.prev = tp;
|
|
}
|
|
|
|
static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {
|
|
|
|
tp->queue.next = (thread_t *)tqp;
|
|
tp->queue.prev = tqp->prev;
|
|
tp->queue.prev->queue.next = tp;
|
|
tqp->prev = tp;
|
|
}
|
|
|
|
static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
|
|
thread_t *tp = tqp->next;
|
|
|
|
tqp->next = tp->queue.next;
|
|
tqp->next->queue.prev = (thread_t *)tqp;
|
|
|
|
return tp;
|
|
}
|
|
|
|
static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {
|
|
thread_t *tp = tqp->prev;
|
|
|
|
tqp->prev = tp->queue.prev;
|
|
tqp->prev->queue.next = (thread_t *)tqp;
|
|
|
|
return tp;
|
|
}
|
|
|
|
static inline thread_t *queue_dequeue(thread_t *tp) {
|
|
|
|
tp->queue.prev->queue.next = tp->queue.next;
|
|
tp->queue.next->queue.prev = tp->queue.prev;
|
|
|
|
return tp;
|
|
}
|
|
#endif /* CH_CFG_OPTIMIZE_SPEED == TRUE */
|
|
|
|
/**
|
|
* @brief Determines if the current thread must reschedule.
|
|
* @details This function returns @p true if there is a ready thread with
|
|
* higher priority.
|
|
*
|
|
* @return The priorities situation.
|
|
* @retval false if rescheduling is not necessary.
|
|
* @retval true if there is a ready thread at higher priority.
|
|
*
|
|
* @iclass
|
|
*/
|
|
static inline bool chSchIsRescRequiredI(void) {
|
|
|
|
chDbgCheckClassI();
|
|
|
|
return firstprio(&ch.rlist.queue) > currp->prio;
|
|
}
|
|
|
|
/**
|
|
* @brief Determines if yielding is possible.
|
|
* @details This function returns @p true if there is a ready thread with
|
|
* equal or higher priority.
|
|
*
|
|
* @return The priorities situation.
|
|
* @retval false if yielding is not possible.
|
|
* @retval true if there is a ready thread at equal or higher priority.
|
|
*
|
|
* @sclass
|
|
*/
|
|
static inline bool chSchCanYieldS(void) {
|
|
|
|
chDbgCheckClassS();
|
|
|
|
return firstprio(&ch.rlist.queue) >= currp->prio;
|
|
}
|
|
|
|
/**
|
|
* @brief Yields the time slot.
|
|
* @details Yields the CPU control to the next thread in the ready list with
|
|
* equal or higher priority, if any.
|
|
*
|
|
* @sclass
|
|
*/
|
|
static inline void chSchDoYieldS(void) {
|
|
|
|
chDbgCheckClassS();
|
|
|
|
if (chSchCanYieldS()) {
|
|
chSchDoRescheduleBehind();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Inline-able preemption code.
|
|
* @details This is the common preemption code, this function must be invoked
|
|
* exclusively from the port layer.
|
|
*
|
|
* @special
|
|
*/
|
|
static inline void chSchPreemption(void) {
|
|
tprio_t p1 = firstprio(&ch.rlist.queue);
|
|
tprio_t p2 = currp->prio;
|
|
|
|
#if CH_CFG_TIME_QUANTUM > 0
|
|
if (currp->preempt > (tslices_t)0) {
|
|
if (p1 > p2) {
|
|
chSchDoRescheduleAhead();
|
|
}
|
|
}
|
|
else {
|
|
if (p1 >= p2) {
|
|
chSchDoRescheduleBehind();
|
|
}
|
|
}
|
|
#else /* CH_CFG_TIME_QUANTUM == 0 */
|
|
if (p1 > p2) {
|
|
chSchDoRescheduleAhead();
|
|
}
|
|
#endif /* CH_CFG_TIME_QUANTUM == 0 */
|
|
}
|
|
|
|
#endif /* CHSCHD_H */
|
|
|
|
/** @} */
|